Feedback linearization and control of a limb-muscle model

The application of feedback linearization controller to a simplified nonlinear limb muscle model is proposed in this thesis. The simplification of a complex nonlinear muscle model developed by Wexler and Binder-Macleod [1] and various control structures are given, along with the successful attempts to complete the task of trajectory following. The feedback linearization and a linear PID controller produced accurate tracking results using the nonlinear muscle-limb model. Simulations are performed to test the theoretical basis for this control design in which realistic paths developed from experimental procedures were followed. The robustness of the control strategy is determined through parameter variation and disturbed circumstances. Additionally the feedback linearized controller was paired with the complex nonlinear muscle limb model, without simplifications, and was successfully used to track realistic trajectories.